Masahiro Furukawa
2Chx3dof Magnetrometer supported M-Series Random Sequence Generator Servo Control
Sampling Frequency
Sampling Frequency in main.cpp
#define SampleFreq 200 // [Hz]
Auto Stop Setting
Auto-stop Timer 15sec after
// auto-stop when 15sec after
if(smpl_cnt>3000){stop_dump();}
The number of 3000 means Sample Count. The number is given by SampleFreq[Hz] * Auto-Stop Time [sec].
M-Series Random Sequence
M-series Random Update Term in main.cpp
// M-series update flag #define M_TERM 200;
Unit is sample count.
cf.) 200 equals to 200 [samples] which equals to 1 [second] where SampleFreq = 200 [Hz}.
See above.
M-Series Random Servo Control
Diff: M-Series.h
- Branch:
- MPU-9250-MagSensServo
- Revision:
- 9:b32312aacbba
- Parent:
- 8:07c3cb01a5b6
--- a/M-Series.h Tue Feb 02 17:12:57 2021 +0000
+++ b/M-Series.h Tue Feb 02 17:24:02 2021 +0000
@@ -54,47 +54,26 @@
// Maximum-Length Tap Position and Number of taps
// http://www5b.biglobe.ne.jp/~pisan/radio-Msequence.htm
//
- H[0] = 1;
+ H[0] = 1;
H[1] = 0;
H[2] = 1;
H[3] = 0;
-
- H[4] = 0;
+
+ H[4] = 0;
H[5] = 0;
H[6] = 0;
H[7] = 0;
-
- H[8] = 0;
+
+ H[8] = 0;
H[9] = 0;
H[10] = 0;
H[11] = 1;
-
+
H[12] = 0;
H[13] = 0;
H[14] = 0;
H[15] = 1;
- //
-//
-// // 0806(HEX) = [latest] 0001 1111 0101 0000 (2) [oldest]
-// H[0] = 0; // 0000 (oldest)
-// H[1] = 0;
-// H[2] = 0;
-// H[3] = 0;
-//
-// H[4] = 1; // 0101
-// H[5] = 0;
-// H[6] = 1;
-// H[7] = 0;
-//
-// H[8] = 1; // 1111
-// H[9] = 1;
-// H[10] = 1;
-// H[11] = 1;
-//
-// H[12] = 1; // 0001
-// H[13] = 0;
-// H[14] = 0;
-// H[15] = 0;
+
}
uint8_t update(void)
@@ -117,7 +96,12 @@
// store the latest value at the last
M[MSeries_N - 1] = Mtmp;
- return Mtmp;
+ return get();
+ }
+
+ uint8_t get(void)
+ {
+ return M[15];
}
};